/*
*  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*  1. Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*
*  2. Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*
*  3. Neither the name of the copyright holder nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
*  planner_action.h
*
*  authors:
*    Sebastian Pütz <spuetz@uni-osnabrueck.de>
*    Jorge Santos Simón <santos@magazino.eu>
*
*/

#ifndef MBF_ABSTRACT_NAV__PLANNER_ACTION_H_
#define MBF_ABSTRACT_NAV__PLANNER_ACTION_H_

#include <actionlib/server/action_server.h>
#include <mbf_msgs/GetPathAction.h>
#include <mbf_utility/robot_information.h>
#include "mbf_abstract_nav/abstract_action_base.hpp"
#include "mbf_abstract_nav/abstract_planner_execution.h"

namespace mbf_abstract_nav
{

class PlannerAction : public AbstractActionBase<mbf_msgs::GetPathAction, AbstractPlannerExecution>
{
public:

    typedef boost::shared_ptr<PlannerAction> Ptr;

    PlannerAction(const std::string &name, const mbf_utility::RobotInformation &robot_info);

    void runImpl(GoalHandle &goal_handle, AbstractPlannerExecution &execution);

protected:

    /**
     * @brief Transforms a plan to the global frame (global_frame_) coord system.
     * @param plan Input plan to be transformed.
     * @param global_plan Output plan, which is then transformed to the global frame.
     * @return true, if the transformation succeeded, false otherwise
     */
    bool transformPlanToGlobalFrame(const std::vector<geometry_msgs::PoseStamped> &plan,
                                    std::vector<geometry_msgs::PoseStamped> &global_plan);

private:

    //! Publisher to publish the current goal pose, which is used for path planning
    ros::Publisher current_goal_pub_;
    //! Path sequence counter
    unsigned int path_seq_count_;
};

} /* mbf_abstract_nav */

#endif /* MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ */
